ST / X_NUCLEO_IHM02A1

Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   HelloWorld_IHM02A1 ConcorsoFinal HelloWorld_IHM02A1_mbedOS HelloWorld_IHM02A1-Serialinterpreter ... more

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L6470_AppCMDs
Modules | Functions

L6470_AppCMDs
[L6470_Conversion_Functions]

Modules

 L6470_AppCMDs_ToBePrepared

Functions

void L6470_SetParam (eL6470_RegId_t L6470_RegId, uint32_t Value)
 SetParam command sets the register value equal to a new value.
uint32_t L6470_GetParam (eL6470_RegId_t L6470_RegId)
 GetParam command reads the register value.
void L6470_Run (eL6470_DirId_t L6470_DirId, uint32_t Speed)
 Run command produces a motion at fixed speed.
void L6470_StepClock (eL6470_DirId_t L6470_DirId)
 StepClock command switches the device in Step-clock mode.
void L6470_Move (eL6470_DirId_t L6470_DirId, uint32_t N_Step)
 Move command produces a motion of N_STEP microsteps.
void L6470_GoTo (uint32_t AbsPos)
 GoTo command produces a motion to ABS_POS absolute position through the shortest path.
void L6470_GoToDir (eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
 GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
void L6470_GoUntil (eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
 GoUntil command produces a motion at fixed speed imposing a direction until an external switch turn-on event occurs.
void L6470_ReleaseSW (eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
 ReleaseSW command produces a motion at minimum speed imposing a direction until SW is released.
void L6470_GoHome (void)
 GoHome command produces a motion to the HOME position (zero position) via the shortest path.
void L6470_GoMark (void)
 GoMark command produces a motion to the MARK position performing the minimum path.
void L6470_ResetPos (void)
 ResetPos command resets the ABS_POS register to zero.
void L6470_ResetDevice (void)
 ResetDevice command resets the device to power-up conditions.
void L6470_SoftStop (void)
 SoftStop command causes an immediate deceleration to zero speed and a consequent motor stop; the deceleration value used is the one stored in the DEC register.
void L6470_HardStop (void)
 HardStop command causes an immediate motor stop with infinite deceleration.
void L6470_SoftHiZ (void)
 SoftHiZ command disables the power bridges (high impedance state) after a deceleration to zero; the deceleration value used is the one stored in the DEC register.
void L6470_HardHiZ (void)
 HardHiZ command immediately disables the power bridges (high impedance state).
uint16_t L6470_GetStatus (void)
 GetStatus command returns the STATUS register value.

Function Documentation

uint32_t L6470_GetParam ( eL6470_RegId_t  L6470_RegId ) [protected, inherited]

GetParam command reads the register value.

Parameters:
L6470_RegIdThe identifier of the L6470 register to be addressed.
Return values:
ReceivedValueThe register value.

Definition at line 772 of file L6470.cpp.

uint16_t L6470_GetStatus ( void   ) [protected, inherited]

GetStatus command returns the STATUS register value.

Return values:
ReceivedValueThe register value.

Definition at line 986 of file L6470.cpp.

void L6470_GoHome ( void   ) [protected, inherited]

GoHome command produces a motion to the HOME position (zero position) via the shortest path.

Definition at line 891 of file L6470.cpp.

void L6470_GoMark ( void   ) [protected, inherited]

GoMark command produces a motion to the MARK position performing the minimum path.

Definition at line 903 of file L6470.cpp.

void L6470_GoTo ( uint32_t  AbsPos ) [protected, inherited]

GoTo command produces a motion to ABS_POS absolute position through the shortest path.

Parameters:
AbsPosThe target absolute position.

Definition at line 831 of file L6470.cpp.

void L6470_GoToDir ( eL6470_DirId_t  L6470_DirId,
uint32_t  AbsPos 
) [protected, inherited]

GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.

Parameters:
L6470_DirIdThe identifier of the L6470 motion direction.
AbsPosThe target absolute position.

Definition at line 847 of file L6470.cpp.

void L6470_GoUntil ( eL6470_ActId_t  L6470_ActId,
eL6470_DirId_t  L6470_DirId,
uint32_t  Speed 
) [protected, inherited]

GoUntil command produces a motion at fixed speed imposing a direction until an external switch turn-on event occurs.

Parameters:
L6470_ActIdThe identifier of the L6470 action about the absolute position.
L6470_DirIdThe identifier of the L6470 motion direction.
SpeedThe speed value as (([step/s] * 250e-9) / 2^-28)

Definition at line 865 of file L6470.cpp.

void L6470_HardHiZ ( void   ) [protected, inherited]

HardHiZ command immediately disables the power bridges (high impedance state).

Definition at line 973 of file L6470.cpp.

void L6470_HardStop ( void   ) [protected, inherited]

HardStop command causes an immediate motor stop with infinite deceleration.

Definition at line 949 of file L6470.cpp.

void L6470_Move ( eL6470_DirId_t  L6470_DirId,
uint32_t  N_Step 
) [protected, inherited]

Move command produces a motion of N_STEP microsteps.

Parameters:
L6470_DirIdThe identifier of the L6470 motion direction.
N_StepThe number of microsteps.

Definition at line 819 of file L6470.cpp.

void L6470_ReleaseSW ( eL6470_ActId_t  L6470_ActId,
eL6470_DirId_t  L6470_DirId 
) [protected, inherited]

ReleaseSW command produces a motion at minimum speed imposing a direction until SW is released.

Parameters:
L6470_ActIdThe identifier of the L6470 action about the absolute position.
L6470_DirIdThe identifier of the L6470 motion direction.

Definition at line 879 of file L6470.cpp.

void L6470_ResetDevice ( void   ) [protected, inherited]

ResetDevice command resets the device to power-up conditions.

Definition at line 925 of file L6470.cpp.

void L6470_ResetPos ( void   ) [protected, inherited]

ResetPos command resets the ABS_POS register to zero.

Definition at line 914 of file L6470.cpp.

void L6470_Run ( eL6470_DirId_t  L6470_DirId,
uint32_t  Speed 
) [protected, inherited]

Run command produces a motion at fixed speed.

Parameters:
L6470_DirIdThe identifier of the L6470 motion direction.
SpeedThe speed value as (([step/s] * 250e-9) / 2^-28)

Definition at line 794 of file L6470.cpp.

void L6470_SetParam ( eL6470_RegId_t  L6470_RegId,
uint32_t  Value 
) [protected, inherited]

SetParam command sets the register value equal to a new value.

Parameters:
L6470_RegIdThe identifier of the L6470 register to be addressed.
ValueThe new value.

Definition at line 758 of file L6470.cpp.

void L6470_SoftHiZ ( void   ) [protected, inherited]

SoftHiZ command disables the power bridges (high impedance state) after a deceleration to zero; the deceleration value used is the one stored in the DEC register.

Definition at line 962 of file L6470.cpp.

void L6470_SoftStop ( void   ) [protected, inherited]

SoftStop command causes an immediate deceleration to zero speed and a consequent motor stop; the deceleration value used is the one stored in the DEC register.

Definition at line 938 of file L6470.cpp.

void L6470_StepClock ( eL6470_DirId_t  L6470_DirId ) [protected, inherited]

StepClock command switches the device in Step-clock mode.

Parameters:
L6470_DirIdThe identifier of the L6470 motion direction.

Definition at line 806 of file L6470.cpp.

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